| 移动机器人作战平台立体视觉三维建模方法 |
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| 引用本文： | 朱礼尧,王建中.移动机器人作战平台立体视觉三维建模方法[J].科技导报(北京),2009,27(18):38-42. |
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| 作者姓名： | 朱礼尧 王建中 |
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| 作者单位： | 北京理工大学,爆炸科学与技术国家重点实验室,北京,100081 |
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| 基金项目： | 爆炸科学与技术国家重点实验室自主研究课题项目 |
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| 摘 要： | 虚拟现实技术在移动机器人作战平台遥操作中的应用,可增强操控人员的视觉临场感,提高操控效率.基于立体视觉的三维建模是构建虚拟环境的基础.根据立体视觉的基本原理,研究了立体视觉的三维建模方法.在对比同类型中不同算法基础上,提出适合立体视觉系统的三维建模算法,提出提高空间点求解精度的改进算法,最后用Open Inventor进行三维模型可视化显示.试验结果表明,该方法具有良好的建模效果,能精确反映障碍物深度信息.
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| 关 键 词： | 双目立体视觉 摄像机标定 三维建模 |
Visual Stereo Modeling of Mobile Robot Fighting Platform |
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| ZHU Liyao,WANG Jianzhong State Key Laboratory of Explosion Science , Technology,Beijing Institute of Technology,Beijing ,China.Visual Stereo Modeling of Mobile Robot Fighting Platform[J].Science & Technology Review,2009,27(18):38-42. |
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| Authors: | ZHU Liyao WANG Jianzhong State Key Laboratory of Explosion Science Technology Beijing Institute of Technology Beijing China |
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| Institution: | ZHU Liyao,WANG Jianzhong State Key Laboratory of Explosion Science , Technology,Beijing Institute of Technology,Beijing 100081,China |
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| Abstract: | Virtual reality technology is widely applied in mobile robot fighting platforms. This will provide the operator the visual telepresence and increase the teleoperation efficiency. The virtual surrounding is a visual stereo space. With applications of corresponding software and algorithms, models for the real environment are built. Based on the basic theory of stereo vision, the camera calibration is established. At the same time, the algorithms of feature extraction, stereo matching and three dimensional com... |
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| Keywords: | binocular stereo vision camera calibration three - dimensional modeling |
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